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#ifndef DWB_CRITICS_GOAL_ALIGN_H_
#define DWB_CRITICS_GOAL_ALIGN_H_

#include <dwb_critics/goal_dist.h>
#include <vector>
#include <string>

namespace dwb_critics
{

/**
 * @class GoalAlignCritic
 * @brief Scores trajectories based on whether the robot ends up pointing toward the eventual goal
 *
 * Similar to GoalDistCritic, this critic finds the pose from the global path farthest from the robot
 * that is still on the costmap and then evaluates how far the front of the robot is from that point.
 * This works as a proxy to calculating which way the robot should be pointing.
 */
class GoalAlignCritic: public GoalDistCritic
{
public:
  GoalAlignCritic() : forward_point_distance_(0.0) {}
  void onInit() override;
  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
               const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
  double scorePose(const geometry_msgs::Pose2D& pose) override;
protected:
  double forward_point_distance_;
};

}  // namespace dwb_critics
#endif  // DWB_CRITICS_GOAL_ALIGN_H_
